CN110672024A - Method for measuring object distance by using object projection in video - Google Patents
Method for measuring object distance by using object projection in video Download PDFInfo
- Publication number
- CN110672024A CN110672024A CN201910990640.4A CN201910990640A CN110672024A CN 110672024 A CN110672024 A CN 110672024A CN 201910990640 A CN201910990640 A CN 201910990640A CN 110672024 A CN110672024 A CN 110672024A
- Authority
- CN
- China
- Prior art keywords
- point
- straight line
- distance
- projection
- ground
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention provides a method for measuring the distance between objects by using object projection in a video, which comprises the following steps: step S01: establishing a model, setting the point A as the top point of the camera, the point O as the intersection point of the bottom surfaces of the camera, B, C as two measured objects, and respectively setting the projection of B, C and the ground as OB、OCPoint B ' is the projection of point B on the ground in the video picture, point C is the projection of point C on the ground in the video picture, point A is connected with point O by straight line, point A, point B and point B ' are connected by straight line, point A, point C and point C ' are connected by straight line, point O and point OBThe point O and the point B 'are connected by a straight line, and the point O and the point B' are connected by a straight lineCThe point C 'is connected by a straight line, the point B is connected with the point B' by a straight line, and the point B is connected with the point OBConnecting the points C and O in a straight lineCPoint-to-line connection of OBDot and OCConnecting points and straight lines, and completing model establishment; calculated by mathematical calculation of OBOCThe method provided by the invention does not use the data of the two-dimensional coordinates of the original video image, and eliminates the dataThe calculation error caused by the lens distortion is generated.
Description
Technical Field
The invention relates to a method for measuring distance, in particular to a method for measuring distance between objects by using projection of the objects in a video.
Background
Currently, there are two main methods for measuring the object distance in a video: firstly, the method is most commonly used when the field measurement is directly carried out, but if the measured object is not in the field, the measurement cannot be carried out; secondly, measuring the length of an object on the same focal plane or near the focal plane, carrying out scale conversion according to the coordinate length of a two-dimensional plane in a picture, wherein the method has certain system errors due to the nonlinear change of lens distortion, and the focal plane is difficult to determine because most cameras look down; thirdly, multiple sets of three-dimensional coordinate data of the shot area are measured in the field, the three-dimensional coordinate data are correlated with the two-dimensional coordinate data in the picture, the mapping relation between the two-dimensional coordinate of the picture and the real three-dimensional coordinate is solved by using affine transformation and the like, so that the three-dimensional coordinate of each unknown point is obtained, and the length is calculated by using a distance formula.
Disclosure of Invention
1. The technical problem to be solved is as follows:
the current method for measuring the distance between objects in a video cannot measure under the condition that the measured object is absent, and has low measurement accuracy due to the calculation error caused by lens distortion.
2. The technical scheme is as follows:
in order to solve the above problems, the present invention provides a method for measuring an object distance by using an object projection in a video, comprising the following steps: step S01: establishing a model, setting the point A as the top point of the camera, the point O as the intersection point of the bottom surfaces of the camera, B, C as two measured objects, and respectively setting the projection of B, C and the ground as OB、OCPoint B ' is the projection of point B on the ground in the video picture, point C is the projection of point C on the ground in the video picture, point A is connected with point O by straight line, point A, point B and point B ' are connected by straight line, point A, point C and point C ' are connected by straight line, point O and point OBThe point O and the point B 'are connected by a straight line, and the point O and the point B' are connected by a straight lineCThe point C 'is connected by a straight line, the point B is connected with the point B' by a straight line, and the point B is connected with the point OBConnecting the points C and O in a straight lineCPoint-to-line connection of OBDot and OCConnecting points and straight lines, and completing model establishment; step S02: the distance between the measurements B 'C' is L, and the height of B, C from the ground is h1、h2AO height H, distance a, B of B 'O, C' O; step S03: application of mathematicsBy calculation of OBDistance of O and OCO distance calculation step S04 calculating cos ∠ B' OC ═ a2+b2-L2(ii) a Step S05: calculating O by mathematical methodBOCThe distance of (c).
In step S03, O is calculated by using a method similar to solid geometry and triangleBA distance of O ofOCA distance of O of
In step S05, the mathematical method used is the cosine theorem, OBOCA distance of
3. Has the advantages that:
the method provided by the invention constructs a tetrahedron with two surfaces being right-angled triangles by utilizing the relation of three points and one line of a ground projection point, a point to be measured and a camera, and calculates the related quantity relation, so that the data of two-dimensional coordinates of the original video image is not used, and the calculation error generated by lens distortion is eliminated.
Drawings
FIG. 1 is a schematic representation of the middle model of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The method provided by the invention constructs a tetrahedral model with two right-angled triangles by utilizing the relation of three points and one line of a ground projection point, a point to be measured and a camera, as shown in figure 1, wherein a point A is taken as a vertex of the camera, O is an intersection point of the bottom surface of the camera, B, C is two measured objects, and the projections of B, C and the ground are respectively OB、OCThe point B 'is the projection of the point B on the ground in the video picture, and the point C' is the projection of the point C on the ground in the video pictureShadow, connecting point A and point O with straight line, connecting point A, point B and point B 'with straight line, connecting point A, point C and point C' with straight line, and connecting point O and point OBThe point O and the point B 'are connected by a straight line, and the point O and the point B' are connected by a straight lineCThe point C 'is connected by a straight line, the point B is connected with the point B' by a straight line, and the point B is connected with the point OBConnecting the points C and O in a straight lineCPoint-to-line connection of OBDot and OCAnd connecting points and straight lines, and finishing model building.
Then the distance between the measurements B 'C' is measured as L, and the height of B, C from the ground is measured as h1、h2AO height H, distance a, B of B 'O, C' O;
calculating O by using a solid geometry and triangle similarity methodBA distance of O of
OCA distance of O of
Then cos ∠ B' OC ═ a is calculated2+b2-L2Finally, the cosine theorem is used to calculate OBOCA distance of
The method provided by the invention does not use the data of the two-dimensional coordinates of the original video image, so that the calculation error caused by lens distortion is eliminated, the measurement accuracy is improved, and the calculation method is simple.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (3)
1. A method for measuring object spacing using object projections in a video, comprising the steps of:step S01: establishing a model, setting the point A as the top point of the camera, the point O as the intersection point of the bottom surfaces of the camera, B, C as two measured objects, and respectively setting the projection of B, C and the ground as OB、OCPoint B ' is the projection of point B on the ground in the video picture, point C is the projection of point C on the ground in the video picture, point A is connected with point O by straight line, point A, point B and point B ' are connected by straight line, point A, point C and point C ' are connected by straight line, point O and point OBThe point O and the point B 'are connected by a straight line, and the point O and the point B' are connected by a straight lineCThe point C 'is connected by a straight line, the point B is connected with the point B' by a straight line, and the point B is connected with the point OBConnecting the points C and O in a straight lineCPoint-to-line connection of OBDot and OCConnecting points and straight lines, and completing model establishment; step S02: the distance between the measurements B 'C' is L, and the height of B, C from the ground is h1、h2AO height H, distance a, B of B 'O, C' O; step S03: calculating O by mathematical methodBDistance of O and OCO distance calculation step S04 calculating cos ∠ B' OC ═ a2+b2-L2(ii) a Step S05: calculating O by mathematical methodBOCThe distance of (c).
2. The method of claim 1, wherein: in step S03, O is calculated by using a method similar to solid geometry and triangleBA distance of O of
OCA distance of O of
3. The method of claim 1 or 2, wherein: in step S05, the mathematical method used is the cosine theorem, OBOCA distance of
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910990640.4A CN110672024A (en) | 2019-10-18 | 2019-10-18 | Method for measuring object distance by using object projection in video |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910990640.4A CN110672024A (en) | 2019-10-18 | 2019-10-18 | Method for measuring object distance by using object projection in video |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110672024A true CN110672024A (en) | 2020-01-10 |
Family
ID=69082976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910990640.4A Pending CN110672024A (en) | 2019-10-18 | 2019-10-18 | Method for measuring object distance by using object projection in video |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110672024A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111504201A (en) * | 2020-05-12 | 2020-08-07 | 国网天津市电力公司电力科学研究院 | Method for measuring sag of flexible conductor in transformer substation |
| CN113344899A (en) * | 2021-06-25 | 2021-09-03 | 北京市商汤科技开发有限公司 | Mining working condition detection method and device, storage medium and electronic equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103353300A (en) * | 2013-01-06 | 2013-10-16 | 罗建刚 | Photographing central position or image posture measuring method as well as computing equipment and programming method |
| CN104236462A (en) * | 2013-06-14 | 2014-12-24 | 北京千里时空科技有限公司 | Method for extracting height and distance of object in video image |
| CN106482646A (en) * | 2016-10-10 | 2017-03-08 | 河海大学 | Based on the method that slr camera measures object width |
| CN107328387A (en) * | 2017-07-04 | 2017-11-07 | 成都康烨科技有限公司 | Angle measuring method, device and video camera |
| CN107462883A (en) * | 2017-08-04 | 2017-12-12 | 中车青岛四方机车车辆股份有限公司 | Method and laser range finder of the measurement point to any dimension plan range in space |
-
2019
- 2019-10-18 CN CN201910990640.4A patent/CN110672024A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103353300A (en) * | 2013-01-06 | 2013-10-16 | 罗建刚 | Photographing central position or image posture measuring method as well as computing equipment and programming method |
| CN104236462A (en) * | 2013-06-14 | 2014-12-24 | 北京千里时空科技有限公司 | Method for extracting height and distance of object in video image |
| CN106482646A (en) * | 2016-10-10 | 2017-03-08 | 河海大学 | Based on the method that slr camera measures object width |
| CN107328387A (en) * | 2017-07-04 | 2017-11-07 | 成都康烨科技有限公司 | Angle measuring method, device and video camera |
| CN107462883A (en) * | 2017-08-04 | 2017-12-12 | 中车青岛四方机车车辆股份有限公司 | Method and laser range finder of the measurement point to any dimension plan range in space |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111504201A (en) * | 2020-05-12 | 2020-08-07 | 国网天津市电力公司电力科学研究院 | Method for measuring sag of flexible conductor in transformer substation |
| CN111504201B (en) * | 2020-05-12 | 2021-11-26 | 国网天津市电力公司电力科学研究院 | Method for measuring sag of flexible conductor in transformer substation |
| CN113344899A (en) * | 2021-06-25 | 2021-09-03 | 北京市商汤科技开发有限公司 | Mining working condition detection method and device, storage medium and electronic equipment |
| CN113344899B (en) * | 2021-06-25 | 2023-12-19 | 北京市商汤科技开发有限公司 | Mining working condition detection method and device, storage medium and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110057295B (en) | Monocular vision plane distance measuring method without image control | |
| CN106839977B (en) | Shield dregs volume method for real-time measurement based on optical grating projection binocular imaging technology | |
| CN106595528A (en) | Digital speckle-based telecentric microscopic binocular stereoscopic vision measurement method | |
| CN110378969B (en) | Convergent binocular camera calibration method based on 3D geometric constraint | |
| CN110672020A (en) | Stand tree height measuring method based on monocular vision | |
| CN110672039A (en) | Object omnibearing three-dimensional measurement method based on plane reflector | |
| CN107767456A (en) | A kind of object dimensional method for reconstructing based on RGB D cameras | |
| CN109544628A (en) | A kind of the accurate reading identifying system and method for pointer instrument | |
| CN109163657A (en) | A kind of circular target position and posture detection method rebuild based on binocular vision 3 D | |
| TW201520508A (en) | System and method for interpolating points using contact probe | |
| CN108362205B (en) | Space distance measuring method based on fringe projection | |
| CN109827526A (en) | One kind being based on photogrammetric planar smoothness detection method and its flow chart of data processing | |
| CN112365529B (en) | Tunnel point cloud registration method and device based on gravity center deviation | |
| CN110766731A (en) | Method and device for automatically registering panoramic image and point cloud and storage medium | |
| CN110672024A (en) | Method for measuring object distance by using object projection in video | |
| CN115371673A (en) | Binocular camera target positioning method based on Bundle Adjustment in unknown environment | |
| CN110044266B (en) | Photogrammetry system based on speckle projection | |
| CN109341588B (en) | Binocular structured light three-system method visual angle weighted three-dimensional contour measurement method | |
| CN111402315A (en) | Three-dimensional distance measuring method for adaptively adjusting base line of binocular camera | |
| CN109631841B (en) | Method and device for measuring cross section of expressway based on laser projection | |
| KR101996226B1 (en) | Apparatus for measuring three-dimensional position of subject and method thereof | |
| CN103791919B (en) | A kind of vertical accuracy evaluation method based on digital base-height ratio model | |
| CN114608450A (en) | Method for measuring and calculating three-dimensional size of remote sea surface target by airborne photoelectric system | |
| CN110332938B (en) | Indoor monocular self-positioning method based on mobile phone | |
| CN108627094A (en) | A kind of 3D laser measurement methods of parts height dimension |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200110 |